mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-27 19:10:34 +08:00
Pavel Kirienko
365 lines
13 KiB
C++
365 lines
13 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include <memory>
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#include <gtest/gtest.h>
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#include "transfer_test_helpers.hpp"
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#include "can/can.hpp"
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#include <uavcan/transport/dispatcher.hpp>
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class DispatcherTransferEmulator : public IncomingTransferEmulatorBase
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{
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CanDriverMock& target_;
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public:
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DispatcherTransferEmulator(CanDriverMock& target, uavcan::NodeID dst_node_id = 127)
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: IncomingTransferEmulatorBase(dst_node_id)
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, target_(target)
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{ }
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void sendOneFrame(const uavcan::RxFrame& frame)
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{
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CanIfaceMock* const iface = static_cast<CanIfaceMock*>(target_.getIface(frame.getIfaceIndex()));
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EXPECT_TRUE(iface);
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if (iface)
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{
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iface->pushRx(frame);
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}
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}
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};
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static const uavcan::NodeID SELF_NODE_ID(64);
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TEST(Dispatcher, Reception)
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{
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uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
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uavcan::PoolManager<1> poolmgr;
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poolmgr.addPool(&pool);
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SystemClockMock clockmock(100);
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CanDriverMock driver(2, clockmock);
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uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
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uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
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ASSERT_TRUE(dispatcher.setNodeID(SELF_NODE_ID)); // Can be set only once
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ASSERT_FALSE(dispatcher.setNodeID(SELF_NODE_ID));
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ASSERT_EQ(SELF_NODE_ID, dispatcher.getNodeID());
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DispatcherTransferEmulator emulator(driver, SELF_NODE_ID);
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/*
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* Test environment
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*/
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static const uavcan::DataTypeDescriptor TYPES[4] =
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{
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makeDataType(uavcan::DataTypeKindMessage, 1),
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makeDataType(uavcan::DataTypeKindMessage, 2),
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makeDataType(uavcan::DataTypeKindService, 1),
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makeDataType(uavcan::DataTypeKindService, 1)
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};
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typedef TestListener<512, 2, 2> Subscriber;
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typedef std::auto_ptr<Subscriber> SubscriberPtr;
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static const int NUM_SUBSCRIBERS = 6;
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SubscriberPtr subscribers[NUM_SUBSCRIBERS] =
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{
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SubscriberPtr(new Subscriber(dispatcher.getTransferPerfCounter(), TYPES[0], poolmgr)), // msg
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SubscriberPtr(new Subscriber(dispatcher.getTransferPerfCounter(), TYPES[0], poolmgr)), // msg // Two similar
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SubscriberPtr(new Subscriber(dispatcher.getTransferPerfCounter(), TYPES[1], poolmgr)), // msg
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SubscriberPtr(new Subscriber(dispatcher.getTransferPerfCounter(), TYPES[2], poolmgr)), // srv
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SubscriberPtr(new Subscriber(dispatcher.getTransferPerfCounter(), TYPES[3], poolmgr)), // srv
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SubscriberPtr(new Subscriber(dispatcher.getTransferPerfCounter(), TYPES[3], poolmgr)) // srv // Repeat again
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};
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static const std::string DATA[6] =
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{
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"Yes, man is mortal, but that would be only half the trouble. "
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"The worst of it is that he's sometimes unexpectedly mortal - there's the trick!",
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"In fact, I'm beginning to fear that this confusion will go on for a long time. "
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"And all because he writes down what I said incorrectly.",
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"I had the pleasure of meeting that young man at the Patriarch's Ponds. "
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"He almost drove me mad myself, proving to me that I don't exist.",
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"He was a dreamer, a thinker, a speculative philosopher... or, as his wife would have it, an idiot.",
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"The only way to get ideas for stories is to drink way too much coffee and buy a desk that doesn't "
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"collapse when you beat your head against it",
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""
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};
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const Transfer transfers[9] =
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{
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emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 10, DATA[0], TYPES[0]),
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emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 11, DATA[1], TYPES[1]),
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emulator.makeTransfer(uavcan::TransferTypeServiceRequest, 12, DATA[2], TYPES[2]),
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emulator.makeTransfer(uavcan::TransferTypeServiceResponse, 13, DATA[3], TYPES[3]),
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emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 14, DATA[4], TYPES[0]),
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emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 15, DATA[5], TYPES[1]),
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// Wrongly addressed:
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emulator.makeTransfer(uavcan::TransferTypeServiceResponse, 10, DATA[0], TYPES[3], 100),
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emulator.makeTransfer(uavcan::TransferTypeServiceRequest, 11, DATA[1], TYPES[2], 101),
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emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 12, DATA[2], TYPES[1], 102)
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};
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/*
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* Registration
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*/
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for (int i = 0; i < NUM_SUBSCRIBERS; i++)
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{
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ASSERT_FALSE(dispatcher.hasSubscriber(subscribers[i]->getDataTypeDescriptor().getID()));
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ASSERT_FALSE(dispatcher.hasPublisher(subscribers[i]->getDataTypeDescriptor().getID()));
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ASSERT_FALSE(dispatcher.hasServer(subscribers[i]->getDataTypeDescriptor().getID()));
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}
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ASSERT_TRUE(dispatcher.registerMessageListener(subscribers[0].get()));
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ASSERT_TRUE(dispatcher.registerMessageListener(subscribers[1].get()));
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ASSERT_TRUE(dispatcher.registerMessageListener(subscribers[2].get()));
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ASSERT_TRUE(dispatcher.registerServiceRequestListener(subscribers[3].get()));
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ASSERT_TRUE(dispatcher.registerServiceResponseListener(subscribers[4].get()));
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ASSERT_TRUE(dispatcher.registerServiceResponseListener(subscribers[5].get()));
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for (int i = 0; i < NUM_SUBSCRIBERS; i++)
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{
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ASSERT_FALSE(dispatcher.hasPublisher(subscribers[i]->getDataTypeDescriptor().getID()));
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}
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// Subscribers
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ASSERT_TRUE(dispatcher.hasSubscriber(subscribers[0]->getDataTypeDescriptor().getID()));
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ASSERT_TRUE(dispatcher.hasSubscriber(subscribers[1]->getDataTypeDescriptor().getID()));
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ASSERT_TRUE(dispatcher.hasSubscriber(subscribers[2]->getDataTypeDescriptor().getID()));
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// Servers
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ASSERT_TRUE(dispatcher.hasServer(subscribers[3]->getDataTypeDescriptor().getID()));
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/*
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* Sending the transfers
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*/
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// Multiple service request listeners are not allowed
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ASSERT_FALSE(dispatcher.registerServiceRequestListener(subscribers[3].get()));
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// Item count validation
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ASSERT_EQ(3, dispatcher.getNumMessageListeners());
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ASSERT_EQ(1, dispatcher.getNumServiceRequestListeners());
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ASSERT_EQ(2, dispatcher.getNumServiceResponseListeners());
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for (int i = 0; i < NUM_SUBSCRIBERS; i++)
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{
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ASSERT_TRUE(subscribers[i]->isEmpty());
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}
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emulator.send(transfers);
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emulator.send(transfers); // Just for fun, they will be ignored anyway.
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while (true)
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{
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const int res = dispatcher.spin(tsMono(0));
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ASSERT_LE(0, res);
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clockmock.advance(100);
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if (res == 0)
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{
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break;
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}
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}
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/*
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* Matching.
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* Expected reception order per subsciber:
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* 0: 0, 4
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* 1: 0, 4
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* 2: 5, 1
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* 3: 2
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* 4: 3
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* 5: 3
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*/
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ASSERT_TRUE(subscribers[0]->matchAndPop(transfers[0]));
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ASSERT_TRUE(subscribers[0]->matchAndPop(transfers[4]));
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ASSERT_TRUE(subscribers[1]->matchAndPop(transfers[0]));
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ASSERT_TRUE(subscribers[1]->matchAndPop(transfers[4]));
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ASSERT_TRUE(subscribers[2]->matchAndPop(transfers[5]));
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ASSERT_TRUE(subscribers[2]->matchAndPop(transfers[1]));
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ASSERT_TRUE(subscribers[3]->matchAndPop(transfers[2]));
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ASSERT_TRUE(subscribers[4]->matchAndPop(transfers[3]));
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ASSERT_TRUE(subscribers[5]->matchAndPop(transfers[3]));
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for (int i = 0; i < NUM_SUBSCRIBERS; i++)
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{
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ASSERT_TRUE(subscribers[i]->isEmpty());
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}
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/*
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* Unregistering all transfers
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*/
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dispatcher.unregisterMessageListener(subscribers[0].get());
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dispatcher.unregisterMessageListener(subscribers[1].get());
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dispatcher.unregisterMessageListener(subscribers[2].get());
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dispatcher.unregisterServiceRequestListener(subscribers[3].get());
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dispatcher.unregisterServiceResponseListener(subscribers[4].get());
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dispatcher.unregisterServiceResponseListener(subscribers[5].get());
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ASSERT_EQ(0, dispatcher.getNumMessageListeners());
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ASSERT_EQ(0, dispatcher.getNumServiceRequestListeners());
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ASSERT_EQ(0, dispatcher.getNumServiceResponseListeners());
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/*
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* Perf counters
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*/
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EXPECT_LT(0, dispatcher.getTransferPerfCounter().getErrorCount()); // Repeated transfers
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EXPECT_EQ(0, dispatcher.getTransferPerfCounter().getTxTransferCount());
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EXPECT_EQ(9, dispatcher.getTransferPerfCounter().getRxTransferCount());
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}
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TEST(Dispatcher, Transmission)
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{
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uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
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uavcan::PoolManager<1> poolmgr;
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poolmgr.addPool(&pool);
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SystemClockMock clockmock(100);
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CanDriverMock driver(2, clockmock);
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uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
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uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
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ASSERT_TRUE(dispatcher.setNodeID(SELF_NODE_ID)); // Can be set only once
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ASSERT_FALSE(dispatcher.setNodeID(SELF_NODE_ID));
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/*
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* Transmission
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*/
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static const uavcan::MonotonicTime TX_DEADLINE = tsMono(123456);
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// uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
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// uint_fast8_t frame_index, TransferID transfer_id, bool last_frame = false
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uavcan::Frame frame(123, uavcan::TransferTypeMessageUnicast, SELF_NODE_ID, 2, 0, 0, true);
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frame.setPayload(reinterpret_cast<const uint8_t*>("123"), 3);
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ASSERT_FALSE(dispatcher.hasPublisher(123));
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ASSERT_FALSE(dispatcher.hasPublisher(456));
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const uavcan::OutgoingTransferRegistryKey otr_key(123, uavcan::TransferTypeMessageUnicast, 2);
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ASSERT_TRUE(out_trans_reg.accessOrCreate(otr_key, uavcan::MonotonicTime::fromMSec(1000000)));
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ASSERT_TRUE(dispatcher.hasPublisher(123));
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ASSERT_FALSE(dispatcher.hasPublisher(456));
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ASSERT_EQ(2, dispatcher.send(frame, TX_DEADLINE, tsMono(0), uavcan::CanTxQueue::Volatile, 0, 0xFF));
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/*
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* Validation
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*/
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uavcan::CanFrame expected_can_frame;
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ASSERT_TRUE(frame.compile(expected_can_frame));
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ASSERT_TRUE(driver.ifaces.at(0).matchAndPopTx(expected_can_frame, TX_DEADLINE));
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ASSERT_TRUE(driver.ifaces.at(1).matchAndPopTx(expected_can_frame, TX_DEADLINE));
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ASSERT_TRUE(driver.ifaces.at(0).tx.empty());
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ASSERT_TRUE(driver.ifaces.at(1).tx.empty());
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/*
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* Perf counters - all empty because dispatcher itself does not count TX transfers
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*/
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EXPECT_EQ(0, dispatcher.getTransferPerfCounter().getErrorCount());
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EXPECT_EQ(0, dispatcher.getTransferPerfCounter().getTxTransferCount());
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EXPECT_EQ(0, dispatcher.getTransferPerfCounter().getRxTransferCount());
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}
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TEST(Dispatcher, Spin)
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{
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uavcan::PoolManager<1> poolmgr;
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SystemClockMock clockmock(100);
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CanDriverMock driver(2, clockmock);
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uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
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uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
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ASSERT_TRUE(dispatcher.setNodeID(SELF_NODE_ID)); // Can be set only once
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ASSERT_FALSE(dispatcher.setNodeID(SELF_NODE_ID));
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clockmock.monotonic_auto_advance = 100;
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ASSERT_EQ(100, clockmock.monotonic);
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ASSERT_EQ(0, dispatcher.spin(tsMono(1000)));
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ASSERT_LE(1000, clockmock.monotonic);
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ASSERT_EQ(0, dispatcher.spin(tsMono(0)));
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ASSERT_LE(1000, clockmock.monotonic);
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ASSERT_EQ(0, dispatcher.spin(tsMono(1100)));
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ASSERT_LE(1100, clockmock.monotonic);
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}
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struct DispatcherTestLoopbackFrameListener : public uavcan::LoopbackFrameListenerBase
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{
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uavcan::RxFrame last_frame;
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unsigned count;
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DispatcherTestLoopbackFrameListener(uavcan::Dispatcher& dispatcher)
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: uavcan::LoopbackFrameListenerBase(dispatcher)
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, count(0)
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{ }
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using uavcan::LoopbackFrameListenerBase::startListening;
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using uavcan::LoopbackFrameListenerBase::isListening;
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void handleLoopbackFrame(const uavcan::RxFrame& frame)
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{
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std::cout << "DispatcherTestLoopbackFrameListener: " << frame.toString() << std::endl;
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last_frame = frame;
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count++;
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}
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};
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TEST(Dispatcher, Loopback)
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{
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uavcan::PoolManager<1> poolmgr;
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SystemClockMock clockmock(100);
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CanDriverMock driver(2, clockmock);
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uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
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uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
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ASSERT_TRUE(dispatcher.setNodeID(SELF_NODE_ID));
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{
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DispatcherTestLoopbackFrameListener listener(dispatcher);
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ASSERT_FALSE(listener.isListening());
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listener.startListening();
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ASSERT_TRUE(listener.isListening());
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// uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
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// uint_fast8_t frame_index, TransferID transfer_id, bool last_frame = false
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uavcan::Frame frame(123, uavcan::TransferTypeMessageUnicast, SELF_NODE_ID, 2, 0, 0, true);
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frame.setPayload(reinterpret_cast<const uint8_t*>("123"), 3);
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ASSERT_TRUE(listener.last_frame == uavcan::RxFrame());
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ASSERT_LE(0, dispatcher.send(frame, tsMono(1000), tsMono(0), uavcan::CanTxQueue::Persistent,
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uavcan::CanIOFlagLoopback, 0xFF));
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ASSERT_EQ(0, dispatcher.spin(tsMono(1000)));
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ASSERT_TRUE(listener.last_frame != uavcan::RxFrame());
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ASSERT_TRUE(listener.last_frame == frame);
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ASSERT_EQ(1, listener.last_frame.getIfaceIndex()); // Last iface
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ASSERT_EQ(2, listener.count);
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ASSERT_EQ(1, dispatcher.getLoopbackFrameListenerRegistry().getNumListeners());
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}
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ASSERT_EQ(0, dispatcher.getLoopbackFrameListenerRegistry().getNumListeners());
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}
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